JPH05103877A - Steering gear in car toy - Google Patents

Abstract

PURPOSE:To obtain performance of high precision with a simple construction by a method wherein power distribution to driving systems is determined based on velocity control target value and steering angle target value inputted by an input means, and right and left independent driving wheels are driven based on the determined power distribution. CONSTITUTION:Right and left independent driving wheels 41 and 42 are driven by driving systems 31 and 32 respectively. A steering wheel 5, receiving reaction force from the ground, is rotated in a steering direction based on a difference between rotation speeds of the driving wheels 41 and 42. Steering angles of the steering wheels 41 and 42 are detected by a detecting means 6 and inputted into a comparison and operation means 7. The comparison and operation means 7 operates a difference of a steering angle target value from an input means 1 and a steering angle from a detecting means 6, and outputs it to a power distributing means 2 as a steering angle difference. The power distributing means 2 receives a velocity control target value and the steering angle target value from the input means 1 and a steering angle difference from the comparison and operation means 7 and determines power distribution to the two driving systems accordingly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steering device for an automobile toy that is operated wirelessly or by wire.

[0002]

2. Description of the Related Art Some automobile toys that are operated wirelessly or by wire are equipped with a drive wheel motor and a direction changing motor, and are operated independently to perform forward and backward movements and direction changes.

Such an automobile toy is operated by using a two-channel transmitter a having two joysticks b and c for advancing and retracting and changing direction, as shown in FIG. 7, for example.

A receiver d is mounted on the vehicle body side, receives a pulse signal from the transmitter a, and inputs this pulse signal to a pulse width determination circuit e.

The pulse width discriminating circuit e converts the input pulse signal into a power signal according to the pulse width, and inputs it to the motor drive circuits f and g.

The direction-changing motor h driven by the motor drive circuit f is rotatable in both forward and reverse directions and is driven based on the output of the motor drive circuit f.

The front wheels j, j for changing direction are rotatably supported in the steering direction, and rotate in the steering direction as the motor h rotates.

The forward / backward drive motor i is driven on the basis of the output of the motor drive circuit g, and rotationally drives rear wheels k, k which are drive wheels.

The steering angle is determined by changing the direction of the front wheels, and the speed is determined by the number of rotations of the rear wheels.

[0010]

In such a car toy, since the left and right rear wheels have the same rotational speed regardless of the steering angle of the front wheels, the operability at the time of turning is poor and the maneuvering is difficult. It contains the problem.

Therefore, it is conceivable that a differential gear is provided on the shaft of the rear wheel, which is the driving wheel, to generate a rotation difference between the two wheels, but the device becomes complicated and the main body of the toy car itself is downsized. Have difficulty.

It is also conceivable that the rear wheels, which are the driving wheels, are driven by left and right independent motors to cause a difference in rotation between the motors.

In this case, three motors are required in addition to the direction changing motors for the front wheels which are the steered wheels, which makes it difficult to reduce the size of the main body and increases the power consumption.

Further, by supporting the front wheels, which are the steered wheels, in a free state in the steering direction, it is possible to obtain a steering angle according to the difference in the rotational speed of the drive wheels.

However, in this case, there are problems that the direction of the steered wheels is not stable and that an accurate steering angle cannot be obtained.

In view of the above problems, the present invention has an object to provide a steering device for an automobile toy, which is capable of obtaining highly precise operability with a simple structure and which is easy to miniaturize. is there.

[0017]

In order to achieve the above object, the present invention provides an input means for inputting a speed control target value and a steering angle target value, and a steering wheel rotatably mounted in a steering direction of a vehicle body. Drive wheels that are independently driven to rotate left and right, a drive system that is individually provided for each drive wheel, a detection unit that detects the steering angle of the steered wheels, and a speed control target value from the input unit. And a power distribution means for determining the power distribution of the drive system based on the steering angle target value, a difference between a detection signal based on the steering angle of the detection means and a steering angle target value, and the power is calculated as a steering angle deviation. The steering device in a car toy includes a comparison calculation unit that inputs the distribution unit.

[0018]

The steering system for the toy car according to the present invention is as described above, and determines the power distribution to the drive system based on the speed control target value and the steering angle target value input by the input means, The independent drive wheels are driven based on the respective power distribution.

The steered wheels are mounted so as to be rotatable in the steering direction, and are rotated in the steering direction by receiving a reaction force from the ground based on the difference in the number of rotations of the drive wheels.

At this time, the actual steering angle of the steered wheels detected by the detection means is input to the comparison means, and the difference from the steering angle target value is calculated as a steering angle deviation and fed back to the power distribution means.

Therefore, the rotation control of the drive wheels is independently performed based on the speed control target value, the steering angle target value, and the steering angle deviation, and the vehicle can travel at a desired steering angle.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The details of the present invention will be described with reference to the drawings.

FIG. 1 is a simplified block diagram of a steering device in an automobile toy according to the present invention.

Reference numeral 1 denotes an input means for inputting a speed control target value and a steering angle target value. For example, in the case of wireless, a receiver is provided for receiving a signal from a controller (so-called propo).

Reference numerals 41 and 42 denote drive wheels that are independently driven to rotate left and right, and the drive system 3 provided individually for each.
It is driven by 1, 32.

Reference numeral 5 denotes a steering wheel that is rotatably mounted in the steering direction of the vehicle body, and rotates in the steering direction by receiving a reaction force from the ground based on the difference in the number of rotations of the drive wheels 41 and 42. Is.

Reference numeral 6 is a detecting means for detecting the steering angle of the steered wheels, and the detected steering angle is compared with the calculating means 7
Entered in.

The comparison calculation means 7 calculates the difference between the steering angle target value from the input means 1 and the steering angle from the detection means 6, and outputs it to the power distribution means 2 as a steering angle deviation.

The power distribution means 2 receives the speed control target value and the steering angle target value from the input means 1 and the steering angle deviation from the comparison calculation means 7, and based on these inputs, the power distribution to the two drive systems is carried out. decide.

FIG. 2 is a plan view for explaining an essential part of the embodiment of the present invention, and FIG. 3 is a front view for explaining an essential part of the embodiment of the present invention.

Reference numeral 8 denotes a chassis constituting the vehicle main body, and front wheels 51 and 52, which also serve as driving wheels and steered wheels, are rocking members 6.
It is attached so as to be rotatable in the steering direction via 1, 61.

The two swinging members 61, 61 are axially mounted on a rod 62 which is slidable right and left, and the rod 62 cooperates with each other to determine the steering angle of the steered wheels.

Reference numerals 33 and 34 denote motors as drive systems which are independently provided on the left and right sides and are rotatable in both forward and reverse directions.

The rotational forces of the motors 33 and 34 are applied to the gears 36 and 36 and the universal joints 37 and 3, respectively.
It is transmitted to the front wheels 51 and 52, which are the left and right driving wheels, via 7.

The steering angles of the front wheels 51 and 52 are detected by the magnet 63 attached to the lower surface of the rod 62 and the hall element 64 attached to the chassis 8 located immediately below the magnet 63 when the front wheels are in the straight traveling direction. Be seen.

The Hall element generates a Hall voltage in a direction perpendicular to the electric current and the magnetic field, and the Hall element 64 of the embodiment is designed to generate a voltage when a magnetic field is applied to the chassis 8 in the vertical direction. Is attached to the chassis 8.

The positional relationship between the magnet 63 and the Hall element 64 will be described with reference to FIGS. 4 (a), 4 (b) and 4 (c).

That is, since the magnetic field 91 is exerted on the Hall element 64 by the magnet 63, there is no magnetic field component acting in the vertical direction with respect to the Hall element 64 in the positional relationship as shown in FIG. Element 64 does not generate a voltage.

If the relative relationship between the magnet 63 and the Hall element 64 becomes such a state as shown in FIG. 4B, a component of the magnetic flux density vector B of the magnetic field 91 that crosses the Hall element 64 perpendicularly occurs, Therefore, the Hall element 64 generates a Hall voltage.

Similarly, if the relative relationship between the magnet 63 and the Hall element 64 is as shown in FIG.
A magnetic flux density vector component that crosses vertically downward is generated, and a voltage having the opposite sign to that in the case of FIG. 4B is generated.

The power distribution means 2 and the comparison calculation means 7 in FIG. 1 are constituted by a microprocessor or the like, and the speed control target value and the steering angle target value are inputted from the input means 1 and the detection means 6 is also inputted. The detection signal of (here, the Hall element 64) is input.

The power distribution means 2 distributes power to the motors 33 and 34 based on the speed control target and the steering angle target value from the input means 1 and the detection signal from the detection means 6.

For example, when making a right turn at the fastest speed, FIG.
As in (a), the power distribution to the left motor 33 is maximized and the power to the right motor 34 is made smaller than that on the left.

At this time, a small turn or a large turn can be determined by adjusting the power of the motor 34 on the right side.

When turning right at medium speed, the output signal of the power distribution means 2 may be as shown in FIG. 5B, and the power of the motor 34 on the right side or the motor 33 on the left side is adjusted. By doing so, it is possible to determine a large turn and a small turn.

Of course, when making a left turn, control can be performed by reversing the power distribution to the left and right motors 33 and 34 from the above case.

In the embodiment shown in FIG. 1, when the vehicle makes a reverse turn, the power has the opposite sign to that of the case of forward movement (that is, reverse rotation).
Should be given to the left and right motors 33, 34.

For example, at the time of backward right turn, as shown in FIG. 5C, the power distribution of the left motor 33 is made larger than the power distribution of the right motor.

The power distribution means drives the left and right motors 33 and 34 so that the steering angle deviation becomes zero, and the front wheels 51 and 52 maintain the steering direction as the motors 33 and 34 are driven.

When the vehicle makes a reverse turn when the steering angle deviation is large, the power distribution on the right side is increased during section A in FIG.
Get into control.

The steering angle of the front wheels 51, 52 is detected by the detecting means 6 both during forward movement and backward movement, and the motors 33, 34 are drive-controlled based on the steering angle deviation which is the difference from the steering angle target value. Therefore, the steering angle of the front wheels 51, 52 can be accurately set to the steering angle target value, and the device can be realized with a simple structure.

In this embodiment, the motors 33 and 34 and the front wheels 5 are
Although a universal joint is used for coupling with 1, 52, other mechanisms can be adopted, and a sensor other than the Hall element can be used as the detecting means, and the present invention is not limited to the embodiment. Absent.

Further, in the embodiment, the front wheels 51, 52 are of the front wheel drive type in which both the steered wheels and the drive wheels are shown, but the rear wheel drive type can also be realized.

In this case, it is preferable that the swinging fulcrum of the front wheels, which are the steered wheels, in the steering direction is located in front of the center of rotation when moving forward and behind the center of rotation when moving backward.

[0055]

According to the present invention as described above, the left and right drive wheels are independently driven to rotate by the respective drive systems, and the reaction force from the ground is used to steer the steered wheels. Therefore, the control of the speed and the steering angle is facilitated with a simple structure.

Further, the steering angle of the steered wheels is detected by the detecting means, and the difference from the steering angle target value is fed back to the power distribution means as the steering angle deviation to distribute the power so that the steering angle deviation becomes zero. As a result, the actual steering angle is made to match the steering angle target value, and accurate steering is possible.

[Brief description of drawings]

FIG. 1 is a simplified block diagram of a steering device in an automobile toy according to the present invention.

FIG. 2 is a plan view for explaining a main part of the first embodiment of the present invention.

FIG. 3 is a front view for explaining a main part of the first embodiment of the present invention.

FIG. 4 is an explanatory diagram of a magnetic field due to a positional relationship between a magnet and a Hall element.

FIG. 5 is a time chart for explaining power distribution to a drive system by power distribution means.

FIG. 6 is an explanatory diagram of control in the first embodiment when a steering angle deviation is large during a reverse turn.

FIG. 7 is an explanatory diagram of a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Input means 2 ... Power distribution means 3 ... Drive system 4 ... Drive wheel 5 ... Steering wheel 6 ... Detection means 7 ... Comparison calculation means 8 ... Chassis

Claims (1)

[Claims] 1. Input means for inputting a speed control target value and a steering angle target value, steered wheels rotatably mounted in a steering direction of a vehicle body, and drive wheels independently driven to rotate left and right. A drive system provided individually for each drive wheel, a detection means for detecting a steering angle of the steered wheel, and a power distribution of the drive system based on a speed control target value and a steering angle target value from the input means. A vehicle toy having: a power distribution means for determining; and a comparison calculation means for calculating a difference between a detection signal based on a steering angle of the detection means and a steering angle target value, and inputting the difference as a steering angle deviation to the power distribution means. Steering device.